DocumentCode
3416261
Title
Inertially aided navigation system for an LHD
Author
Scheding, S. ; Dissanayake, G. ; Nebot, E. ; Durrant-Whyte, H.
Author_Institution
Dept. of Mech. Eng., Sydney Univ., NSW, Australia
fYear
1996
fDate
21-22 Nov 1996
Firstpage
77
Lastpage
82
Abstract
This paper describes the theoretical development and experimental evaluation of a guidance system for an autonomous load, haul and dump truck (LHD) for use in underground mining. The particular contributions of this paper are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from an inertial navigation system (INS) and a bearing only laser. Results are presented using data obtained during field trials
Keywords
automatic guided vehicles; computerised navigation; inertial navigation; mining; sensor fusion; LHD; autonomous load haul and dump truck; bearing only laser; experimental evaluation; guidance system; inertial navigation system; rough uneven terrain; theoretical development; underground mining; vehicle slip; Gold; Mechanical engineering; Mobile robots; Navigation; Optical design; Ores; Product safety; Productivity; Remotely operated vehicles; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Data Fusion Symposium, 1996. ADFS '96., First Australian
Conference_Location
Adelaide, SA
Print_ISBN
0-7803-3601-1
Type
conf
DOI
10.1109/ADFS.1996.581085
Filename
581085
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